1607 T. DEKKER & J. WEBSTER West-ward Hoe II. i. sig. B3v, I was so stiffe..I would ha sworne my Legs had beene wodden pegs: a Constable new chosen kept not such a peripateticall gate.
This term is not to be confused with the noun "peripeteia" which is a coinage of Aristotle's from his Poetics, meaning the point in classical tragedy at which a sudden reversal occurs.